Apollo
10.0
自动驾驶开放平台
frame.proto
浏览该文件的文档.
1
syntax
=
"proto2"
;
2
3
message
Vector3
{
4
optional
double
x = 1;
5
optional
double
y = 2;
6
optional
double
z = 3;
7
}
8
9
message
Vector4
{
10
optional
double
x = 1;
11
optional
double
y = 2;
12
optional
double
z = 3;
13
optional
double
i = 4;
14
optional
bool
is_ground = 5 [
default
=
false
];
15
}
16
17
message
Quaternion
{
18
optional
double
x = 1;
19
optional
double
y = 2;
20
optional
double
z = 3;
21
optional
double
w = 4;
22
}
23
24
message
GPSPose
{
25
optional
double
lat = 1;
26
optional
double
lon = 2;
27
optional
double
bearing = 3;
28
optional
double
x = 4;
29
optional
double
y = 5;
30
optional
double
z = 6;
31
optional
double
qw = 7;
32
optional
double
qx = 8;
33
optional
double
qy = 9;
34
optional
double
qz = 10;
35
}
36
37
message
CameraImage
{
38
optional
double
timestamp = 1;
39
optional
string
image_url = 2;
40
optional
Vector3
position = 3;
41
optional
Quaternion
heading = 4;
42
optional
double
fx = 5;
43
optional
double
fy = 6;
44
optional
double
cx = 7;
45
optional
double
cy = 8;
46
optional
double
skew = 9;
47
optional
double
k1 = 10;
48
optional
double
k2 = 11;
49
optional
double
k3 = 12;
50
optional
double
p1 = 13;
51
optional
double
p2 = 14;
52
optional
string
channel = 15;
53
}
54
55
message
RadarPoint
{
56
enum
RadarType
{
57
FRONT = 1;
58
REAR = 2;
59
}
60
optional
Vector3
position = 1;
61
optional
Vector3
direction = 2;
62
optional
RadarType
type = 3;
63
}
64
65
message
Frame
{
66
optional
Vector3
device_position = 1;
67
optional
Quaternion
device_heading = 2;
68
optional
GPSPose
device_gps_pose = 3;
69
repeated
Vector4
points = 4;
70
repeated
RadarPoint
radar_points = 5;
71
repeated
CameraImage
images = 6;
72
optional
double
timestamp = 7;
73
optional int32 frame_seq = 8;
74
optional
string
data_file = 9;
75
}
syntax
syntax
Definition
frame.proto:1
CameraImage
Definition
frame.proto:37
Frame
Definition
frame.proto:65
GPSPose
Definition
frame.proto:24
Quaternion
Definition
frame.proto:17
RadarPoint
Definition
frame.proto:55
RadarPoint::RadarType
RadarType
Definition
frame.proto:56
Vector3
Definition
frame.proto:3
Vector4
Definition
frame.proto:9
modules
data
proto
frame.proto